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Warning! This version of documentation is OUTDATED, as it describes an older SDK version! Please switch to the documentation for the latest SDK version.
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Unigine.JointCylindrical Class

Inherits: Joint

This class is used to create cylindrical joints.

Example#

The following code illustrates connection of two bodies (b0 and b1) using a cylindrical joint.

Source code (C#)
JointCylindrical joint = new JointCylindrical(b0, b1);
	
// setting joint axis coordinates
joint.setWorldAxis(new vec3(0.0f, 0.0f, 1.0f));

// setting common joint constraint parameters
joint.setLinearRestitution(0.4f);
joint.setAngularRestitution(0.4f);
joint.setLinearSoftness(0.4f);
joint.setAngularSoftness(0.4f);

// setting linear and angular damping
joint.setLinearDamping(4.0f);
joint.setAngularDamping(2.0f);

// setting linear limits [-1.5; 1.5]
joint.setLinearLimitFrom(-1.5f);
joint.setLinearLimitTo(1.5f);

// setting number of iterations
joint.setNumIterations(16);

See Also#

Usage examples:

JointCylindrical Class

Properties

float CurrentLinearVelocity#

The current velocity of the linear motor.

float CurrentLinearDistance#

The current distance between the bodies.

float CurrentAngularVelocity#

The current velocity of the angular motor.

float CurrentAngularAngle#

The current angle between the bodies.

float LinearVelocity#

The target velocity of the attached linear motor.
set
Sets a target velocity of the attached linear motor.
set value - Target velocity in units per second.

float LinearSpring#

The rigidity coefficient of the linear spring. 0 means that the spring is not attached.
set
Sets a rigidity coefficient of the linear spring.
set value - Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.

float LinearLimitTo#

The high limit distance. this limit specifies how far a connected body can move along the joint axis.
set
Sets a high limit distance. This limit specifies how far a connected body can move along the joint axis.
set value - Distance in units.

float LinearLimitFrom#

The low limit distance. this limit specifies how far a connected body can move along the joint axis.
set
Sets a low limit distance. This limit specifies how far a connected body can move along the joint axis.
set value - Distance in units.

float LinearForce#

The maximum force of the attached linear motor. 0 means that the motor is not attached.
set
Sets a maximum force of the attached linear motor.
set value - Maximum force. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

float LinearDistance#

The target distance of the attached linear spring. the spring tries to move the connected bodies so that to keep this distance between them.
set
Sets a target distance of the attached linear spring. The spring tries to move the connected bodies so that to keep this distance between them.
set value - Target distance in units.

float LinearDamping#

The linear damping of the joint.
set
Sets a linear damping of the joint.
set value - Linear damping. If a negative value is provided, 0 will be used instead.

float AngularVelocity#

The target velocity of the attached angular motor.
set
Sets a target velocity of the attached angular motor.
set value - Velocity in radians per second.

float AngularSpring#

The rigidity coefficient of the angular spring. 0 means that the spring is not attached.
set
Sets a rigidity coefficient of the angular spring.
set value - Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.

float AngularLimitTo#

The high rotation limit angle. rotation limit specifies how much a connected body can rotate around the joint axis
set
Sets a high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.
set value - Angle in degrees. The provided value will be saturated in the range [-180; 180].

float AngularLimitFrom#

The low rotation limit angle. rotation limit specifies how much a connected body can rotate around the joint axis.
set
Sets a low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.
set value - Angle in degrees. The provided value will be saturated in the range [-180; 180].

float AngularTorque#

The maximum torque of the attached angular motor. 0 means that the motor is not attached.
set
Sets a maximum torque of the angular motor.
set value - Maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

float AngularDamping#

The angular damping of the joint.
set
Sets an angular damping of the joint.
set value - Angular damping. If a negative value is provided, 0 will be used instead.

float AngularAngle#

The target angle of the attached angular spring. the spring tries to rotate the connected bodies so that they make this angle.
set
Sets a target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.
set value - Angle in degrees. The provided value will be saturated in the range [-180; 180].

vec3 WorldAxis#

The joint axis. the joint axis is calculated based on the axes of the connected bodies.
set
Sets a joint axis. This method updates axes of the connected bodies.
set value - Joint axis.

vec3 Axis1#

The axis of the second connected body.
set
Sets an axis of the second connected body.
set value - Axis of the second body. The provided vector will be normalized.

vec3 Axis0#

The axis of the first connected body.
set
Sets an axis of the first connected body.
set value - Axis of the first body. The provided vector will be normalized.

Members


static JointCylindrical ( ) #

Constructor. Creates a cylindrical joint with an anchor at the origin of the world coordinates.

static JointCylindrical ( Body body0, Body body1 ) #

Constructor. Creates a cylindrical joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.

Arguments

  • Body body0 - First body to be connected with the joint.
  • Body body1 - Second body to be connected with the joint.

static JointCylindrical ( Body body0, Body body1, vec3 anchor, vec3 axis ) #

Constructor. Creates a cylindrical joint connecting two given bodies with specified axis coordinates and an anchor placed at specified coordinates.

Arguments

  • Body body0 - First body to be connected with the joint.
  • Body body1 - Second body to be connected with the joint.
  • vec3 anchor - Anchor coordinates.
  • vec3 axis - Axis coordinates.
Last update: 2020-07-31
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